Mixed Guidance Law for Capturing a Reactive Target by Coordinated Multi-UAV

We present a pursuit law for capturing a moving target with multiple aerial drones in a bounded environment. The objective is to develop strategies to allow a set of drones to perform a mission cooperatively to complete the task. The presented method combines two established pursuit laws: Group Deviated Pure Pursuit (GDP) and Proportional Navigation Guidance (PNG), and the resulting control architecture is in a cascade form. The results were validated in simulation and experimentation on quadrotor aerial drones. The obtained results confirmed the efficacy of the group mixed pursuit strategy, especially in the case of an agile and faster target. A video of the experimentation result can be seen on: https://youtu.be/cRKRUOV-lV4.